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<a href="fcl__distance__queries_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__distance__queries_8h.html">collision/solvers/fcl/fcl_distance_queries.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__distance__requests_8h.html">collision/solvers/fcl/fcl_distance_requests.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//#include &quot;collision/solverFCL/fcl_collision_object.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;fcl/broadphase/broadphase_collision_manager.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/distance.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>fcl_primitive_queries {</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">   12</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">FCL_CalculateDistance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, <span class="keywordtype">double</span> distance_tolerance) {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  fcl::DistanceRequest&lt;FCL_PRECISION&gt; request;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  request.gjk_solver_type = fcl::GST_LIBCCD;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  request.distance_tolerance = distance_tolerance;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  fcl::DistanceResult&lt;FCL_PRECISION&gt; result;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *fcl_obj1 =</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      obj1.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *fcl_obj2 =</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      obj2.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordflow">if</span> (!fcl_obj1 || !fcl_obj2) {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  }</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> retval = 1;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keywordflow">if</span> (fcl_obj1-&gt;collisionGeometry() == fcl_obj2-&gt;collisionGeometry()) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    retval = -2;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>();</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    retval = <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">fcl::distance</a>(fcl_obj1, fcl_obj2, request, result);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = result.min_distance;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordflow">return</span> int(retval);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;}</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a6181a349656fe63c17df82bebfa91d4e">   39</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">FCL_DistanceTolerance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052">FCL_TOLERANCE_CHECK_TYPE</a> check_type,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                          <span class="keywordtype">double</span> distance_tolerance) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  fcl::DistanceRequest&lt;FCL_PRECISION&gt; request;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  request.distance_tolerance = distance_tolerance;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  request.enable_signed_distance = <span class="keyword">true</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  request.enable_nearest_points = <span class="keyword">false</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  request.gjk_solver_type = fcl::GST_LIBCCD;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  fcl::DistanceResult&lt;FCL_PRECISION&gt; dist_result;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *fcl_obj1 =</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      obj1.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *fcl_obj2 =</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      obj2.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (!fcl_obj1 || !fcl_obj2) {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">if</span> (fcl_obj1-&gt;collisionGeometry() == fcl_obj2-&gt;collisionGeometry()) {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> -2;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> (check_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">FCL_TOLERANCE_CHECK_TYPE::TOLERANCE_CHECK_NARROWPHASE</a>) {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> retval =</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">fcl::distance</a>(fcl_obj1, fcl_obj2, request, dist_result);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = dist_result.min_distance;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> =</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          -1 * <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a19295445796ae479a9b7dea6d610e506">penetrationDepth</a>(fcl_obj1-&gt;getAABB(), fcl_obj2-&gt;getAABB());</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>()) {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  } <span class="keywordflow">else</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;}</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7975b69bcfe88855cd2ec44eddd361cb">   77</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">FCL_CalculateDistance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group1,</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, <span class="keywordtype">double</span> distance_tolerance) {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">DistanceData</a> distData;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  fcl::BroadPhaseCollisionManager&lt;double&gt; *mngr;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.gjk_solver_type = fcl::GST_LIBCCD;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  group1.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">if</span> (!mngr)</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *obj2_ptr =</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      obj2.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (!obj2_ptr) {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  mngr-&gt;distance(obj2_ptr, &amp;distData, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a80707409712b021aa3476aad0c7a7e57">defaultDistanceFunction</a>);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">result_code</a> == -1) {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> -2; <span class="comment">// Group contained object with the same Geometry as obj2</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a> == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>()) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a>;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ac18a1bd51e7bde197188fda021b6ae4c">  102</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">FCL_CalculateDistance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group1,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group2,</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, <span class="keywordtype">double</span> distance_tolerance) {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">DistanceData</a> distData;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  fcl::BroadPhaseCollisionManager&lt;double&gt; *mngr1;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  fcl::BroadPhaseCollisionManager&lt;double&gt; *mngr2;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.gjk_solver_type = fcl::GST_LIBCCD;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  group1.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr1);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">if</span> (!mngr1)</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  group2.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr2);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">if</span> (!mngr2)</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  mngr1-&gt;distance(mngr2, &amp;distData, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a80707409712b021aa3476aad0c7a7e57">defaultDistanceFunction</a>);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">result_code</a> == -1) {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">return</span> -2; <span class="comment">// Group contained object with the same Geometry as obj2</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a> == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>()) {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a>;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  }</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">  127</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">FCL_DistanceTolerance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group1,</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052">FCL_TOLERANCE_CHECK_TYPE</a> check_type,</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                          <span class="keywordtype">double</span> distance_tolerance) {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html">ToleranceDistanceData</a> distData;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a486d2e89fa7361e447cc7ff52aabf38a">tolerance</a> = distance_tolerance;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.distance_tolerance = distance_tolerance;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.enable_signed_distance = <span class="keyword">true</span>;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.enable_nearest_points = <span class="keyword">false</span>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.gjk_solver_type = fcl::GJKSolverType::GST_LIBCCD;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  fcl::BroadPhaseCollisionManager&lt;double&gt; *mngr;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  group1.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr);</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">if</span> (!mngr)</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *obj2_ptr =</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      obj2.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">if</span> (!obj2_ptr) {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">if</span> (check_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">FCL_TOLERANCE_CHECK_TYPE::TOLERANCE_CHECK_NARROWPHASE</a>) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    mngr-&gt;distance(obj2_ptr, &amp;distData, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aadb392ee1e6b41e6ec22bda390dea70d">toleranceDistanceFunction</a>);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    mngr-&gt;distance(obj2_ptr, &amp;distData, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a027eb8dbb27f6180348681d8212188e2">toleranceBBDistanceFunction</a>);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">result_code</a> == -1) {</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; 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   <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a>;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  }</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div><div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a5ffe870862cfd97d86e67797902cc970">  164</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">FCL_DistanceTolerance</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group1,</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> &amp;group2,</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052">FCL_TOLERANCE_CHECK_TYPE</a> check_type,</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                          <span class="keywordtype">double</span> distance_tolerance) {</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html">ToleranceDistanceData</a> distData;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a486d2e89fa7361e447cc7ff52aabf38a">tolerance</a> = distance_tolerance;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.distance_tolerance = distance_tolerance;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.enable_signed_distance = <span class="keyword">true</span>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.enable_nearest_points = <span class="keyword">false</span>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>.gjk_solver_type = fcl::GJKSolverType::GST_LIBCCD;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  fcl::BroadPhaseCollisionManager&lt;double&gt; *mngr1;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  fcl::BroadPhaseCollisionManager&lt;double&gt; *mngr2;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  group1.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr1);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">if</span> (!mngr1)</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  group2.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr2);</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">if</span> (!mngr2)</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">if</span> (check_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">FCL_TOLERANCE_CHECK_TYPE::TOLERANCE_CHECK_NARROWPHASE</a>) {</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    mngr1-&gt;distance(mngr2, &amp;distData, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aadb392ee1e6b41e6ec22bda390dea70d">toleranceDistanceFunction</a>);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    mngr1-&gt;distance(mngr2, &amp;distData, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a027eb8dbb27f6180348681d8212188e2">toleranceBBDistanceFunction</a>);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">result_code</a> == -1) {</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">return</span> -2; <span class="comment">// Group contained object with the same Geometry as obj2</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  }</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">if</span> (distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a> == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>()) {</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = distData.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a>;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  }</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;}</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;} <span class="comment">// namespace fcl_primitive_queries</span></div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a8994da1043cce29315492db75858e052"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052">collision::solvers::solverFCL::FCL_TOLERANCE_CHECK_TYPE</a></div><div class="ttdeci">FCL_TOLERANCE_CHECK_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00020">fcl_decl.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a944ca99de57239a36ad49f351565d580"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a944ca99de57239a36ad49f351565d580">collision::solvers::solverFCL::fcl_primitive_queries::FCL_CalculateDistance</a></div><div class="ttdeci">int FCL_CalculateDistance(const FCLCollisionObject &amp;obj1, const FCLCollisionObject &amp;obj2, FCL_PRECISION &amp;distance, double distance_tolerance=1e-6)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__queries_8cc_source.html#l00012">fcl_distance_queries.cc:12</a></div></div>
<div class="ttc" id="fcl__distance__requests_8h_html"><div class="ttname"><a href="fcl__distance__requests_8h.html">fcl_distance_requests.h</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_html_a5914aa8d30e74f4724e58920600460e5"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">collision::solvers::solverFCL::DistanceData::result_code</a></div><div class="ttdeci">int result_code</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00035">fcl_distance_requests.h:35</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">collision::solvers::solverFCL::FCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00027">fcl_collision_object_group.h:27</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_a7d90202859129c9d32720480b3f02302"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#a7d90202859129c9d32720480b3f02302">collision::solvers::solverFCL::fcl_primitive_queries::FCL_DistanceTolerance</a></div><div class="ttdeci">int FCL_DistanceTolerance(const FCLCollisionObjectGroup &amp;group1, const FCLCollisionObject &amp;obj2, FCL_PRECISION &amp;distance, FCL_TOLERANCE_CHECK_TYPE check_type=TOLERANCE_CHECK_NARROWPHASE, double distance_tolerance=1e-6)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__queries_8cc_source.html#l00127">fcl_distance_queries.cc:127</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">collision::solvers::solverFCL::FCLCollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8h_source.html#l00027">fcl_collision_object.h:27</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html">collision::solvers::solverFCL::ToleranceDistanceData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00038">fcl_distance_requests.h:38</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a19295445796ae479a9b7dea6d610e506"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a19295445796ae479a9b7dea6d610e506">collision::solvers::solverFCL::penetrationDepth</a></div><div class="ttdeci">double penetrationDepth(fcl::AABBd boxA, fcl::AABBd boxB)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00033">fcl_distance_requests.cc:33</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_a7d760d4247c26cadb20c20ab40e0b7a6"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">collision::solvers::solverFCL::DistanceDataBase::request</a></div><div class="ttdeci">fcl::DistanceRequest&lt; FCL_PRECISION &gt; request</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00026">fcl_distance_requests.h:26</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aadb392ee1e6b41e6ec22bda390dea70d"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aadb392ee1e6b41e6ec22bda390dea70d">collision::solvers::solverFCL::toleranceDistanceFunction</a></div><div class="ttdeci">bool toleranceDistanceFunction(fcl::CollisionObject&lt; FCL_PRECISION &gt; *o1, fcl::CollisionObject&lt; FCL_PRECISION &gt; *o2, void *cdata_, FCL_PRECISION &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00084">fcl_distance_requests.cc:84</a></div></div>
<div class="ttc" id="namespacecollision_html_a5bc2e62fec3c4891d44fe2863d3d8102"><div class="ttname"><a href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">collision::distance</a></div><div class="ttdeci">std::size_t distance(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, DistanceResult &amp;res, const DistanceRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="distance__queries_8cc_source.html#l00092">distance_queries.cc:92</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a9319276ac9bc37aeb94051be45d7520e"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">collision::solvers::solverFCL::get_max_distance</a></div><div class="ttdeci">FCL_PRECISION get_max_distance(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00111">fcl_distance_requests.cc:111</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">collision::solvers::solverFCL::DistanceData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00033">fcl_distance_requests.h:33</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html_acdbdfc3018beb1aad01b4d8820d9ac59"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">collision::solvers::solverFCL::FCLCollisionObject::getCollisionObject_fcl</a></div><div class="ttdeci">std::shared_ptr&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; &gt; getCollisionObject_fcl(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8cc_source.html#l00132">fcl_collision_object.cc:132</a></div></div>
<div class="ttc" id="fcl__distance__queries_8h_html"><div class="ttname"><a href="fcl__distance__queries_8h.html">fcl_distance_queries.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a8994da1043cce29315492db75858e052adfe12633fe0ac3a9028c806be9d07844">collision::solvers::solverFCL::TOLERANCE_CHECK_NARROWPHASE</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00021">fcl_decl.h:21</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a027eb8dbb27f6180348681d8212188e2"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a027eb8dbb27f6180348681d8212188e2">collision::solvers::solverFCL::toleranceBBDistanceFunction</a></div><div class="ttdeci">bool toleranceBBDistanceFunction(fcl::CollisionObject&lt; FCL_PRECISION &gt; *o1, fcl::CollisionObject&lt; FCL_PRECISION &gt; *o2, void *cdata_, FCL_PRECISION &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00056">fcl_distance_requests.cc:56</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_a67eab52faea52944bb80fbe838f93b71"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">collision::solvers::solverFCL::DistanceDataBase::minDist</a></div><div class="ttdeci">FCL_PRECISION minDist</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00025">fcl_distance_requests.h:25</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data_html_a486d2e89fa7361e447cc7ff52aabf38a"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a486d2e89fa7361e447cc7ff52aabf38a">collision::solvers::solverFCL::ToleranceDistanceData::tolerance</a></div><div class="ttdeci">FCL_PRECISION tolerance</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00040">fcl_distance_requests.h:40</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ae5b7c160709b3db6237138bf7e719d9a"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">collision::solvers::solverFCL::FCL_PRECISION</a></div><div class="ttdeci">double FCL_PRECISION</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00014">fcl_decl.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a68852c711d2671871f96f087fb36e57c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">collision::solvers::solverFCL::FCLCollisionObjectGroup::getManager_fcl</a></div><div class="ttdeci">int getManager_fcl(fcl::BroadPhaseCollisionManager&lt; FCL_PRECISION &gt; *&amp;) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00119">fcl_collision_object_group.cc:119</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a80707409712b021aa3476aad0c7a7e57"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a80707409712b021aa3476aad0c7a7e57">collision::solvers::solverFCL::defaultDistanceFunction</a></div><div class="ttdeci">bool defaultDistanceFunction(fcl::CollisionObject&lt; FCL_PRECISION &gt; *o1, fcl::CollisionObject&lt; FCL_PRECISION &gt; *o2, void *cdata_, FCL_PRECISION &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00008">fcl_distance_requests.cc:8</a></div></div>
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